Merge branch 'main' into fix/goal_time_violated

.github/workflows/ci-format.yml

@@ -16,11 +16,11 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.10.4
     - name: Install system hooks
       run: sudo apt-get install clang-format-14 cppcheck
-    - uses: pre-commit/[email protected].0
+    - uses: pre-commit/[email protected].1
       with:
         extra_args: --all-files --hook-stage manual

.github/workflows/coverage-build.yml

@@ -7,9 +7,9 @@ on:
 jobs:
   coverage:
     name: coverage build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     container:
-      image: ubuntu:jammy
+      image: ubuntu:noble
     strategy:
       fail-fast: false
     env:
@@ -45,7 +45,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-${{ matrix.os }}
           path: ros_ws/log

.github/workflows/reusable_ici.yml

@@ -51,3 +51,4 @@ jobs:
           ROS_DISTRO: ${{ inputs.ros_distro }}
           ROS_REPO: ${{ inputs.ros_repo }}
           CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
+          ADDITIONAL_DEBS: docker.io netcat-openbsd  # Needed for integration tests

.github/workflows/update-ci.yml

@@ -15,7 +15,7 @@ jobs:
     steps:
       # Setup pre-commit
       - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
+      - uses: actions/setup-python@v5
         with:
           python-version: 3.10.4
       - name: Install pre-commit
@@ -28,7 +28,7 @@ jobs:
       # Create pull request
       - name: Create pull-request
         id: cpr
-        uses: peter-evans/create-pull-request@v5
+        uses: peter-evans/create-pull-request@v6
         with:
           branch: update-ci/pre-commit-autoupdate
           delete-branch: true

.pre-commit-config.yaml

@@ -33,13 +33,13 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.0
+    rev: v3.15.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 23.11.0
+    rev: 24.2.0
     hooks:
       - id: black
         args: ["--line-length=100"]
@@ -51,7 +51,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D401,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 6.1.0
+    rev: 7.0.0
     hooks:
     - id: flake8
       args: ["--ignore=E501,W503"]

Universal_Robots_ROS2_Driver.iron.repos

@@ -14,11 +14,11 @@ repositories:
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
-    version: master
+    version: iron
   ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers
-    version: master
+    version: iron
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git

ur/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package ur
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.5 (2024-05-16)
+------------------
+
+2.4.4 (2024-04-04)
+------------------
+
+2.4.3 (2024-02-02)
+------------------
+
 2.4.2 (2023-11-23)
 ------------------
 

ur/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur</name>
-  <version>2.4.2</version>
+  <version>2.4.5</version>
   <description>Metapackage for universal robots</description>
   <maintainer email="[email protected]">Felix Exner</maintainer>
   <maintainer email="[email protected]">Robert Wilbrandt</maintainer>

ur_calibration/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package ur_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.5 (2024-05-16)
+------------------
+
+2.4.4 (2024-04-04)
+------------------
+
+2.4.3 (2024-02-02)
+------------------
+
 2.4.2 (2023-11-23)
 ------------------
 

ur_calibration/README.md

@@ -8,71 +8,4 @@ make use of this in ROS, you first have to extract the calibration information f
 Though this step is not necessary, to control the robot using this driver, it is highly recommended
 to do so, as end effector positions might be off in the magnitude of centimeters.
 
-## Nodes
-### calibration_correction
-This node extracts calibration information directly from a robot, calculates the URDF correction and
-saves it into a .yaml file.
-
-In the launch folder of the ur_calibration package is a helper script:
-
-```bash
-$ ros2 launch ur_calibration calibration_correction.launch.py \
-robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"
-```
-
-For the parameter `robot_ip` insert the IP address on which the ROS pc can reach the robot. As
-`target_filename` provide an absolute path where the result will be saved to.
-
-## Creating a calibration / launch package for all local robots
-When dealing with multiple robots in one organization it might make sense to store calibration data
-into a package dedicated to that purpose only. To do so, create a new package (if it doesn't already
-exist)
-
-```bash
-# Replace your actual colcon_ws folder
-$ cd <colcon_ws>/src
-$ ros2 pkg  create <organization_name>_ur_launch --build-type ament_cmake  --dependencies ur_client_library \
---description "Package containing calibrations and launch files for our UR robots."
-# Create a skeleton package
-$ mkdir -p <organization_name>_ur_launch/etc
-$ mkdir -p <organization_name>_ur_launch/launch
-$ echo 'install(DIRECTORY etc launch DESTINATION share/${PROJECT_NAME})' >> <organization_name>_ur_launch/CMakeLists.txt
-$ colcon build --packages-select <organization_name>_ur_launch
-```
-
-We can use the new package to store the calibration data in that package. We recommend naming each
-robot individually, e.g. *ex-ur10-1*.
-
-```bash
-$ ros2 launch ur_calibration calibration_correction.launch.py \
-robot_ip:=<robot_ip> \
-target_filename:="$(ros2 pkg prefix <organization_name>_ur_launch)/share/<organization_name>_ur_launch/etc/ex-ur10-1_calibration.yaml"
-```
-
-To make life easier, we create a launchfile for this particular robot. We base it upon the
-respective launchfile in the driver:
-
-```bash
-# Replace your actual colcon_ws folder
-$ cd <colcon_ws>/src/<organization_name>_ur_launch/launch
-$ cp $(ros2 pkg prefix ur_robot_driver)/share/ur_robot_driver/launch/ur_control.launch.py ex-ur10-1.launch.py
-```
-
-Next, modify the parameter section of the new launchfile to match your actual calibration:
-
-```py
-kinematics_params = PathJoinSubstitution(
-        [FindPackageShare("<organization_name>_ur_launch"), "etc", "", "ex-ur10-1_calibration.yaml"]
-    )
-
-```
-
-Then, anybody cloning this repository can startup the robot simply by launching
-
-```bash
-# Replace your actual colcon_ws folder
-$ cd <colcon_ws>
-$ colcon build --packages-select <organization_name>_ur_launch
-$ ros2 launch <organization_name>_ur_launch ex-ur10-1.launch.py
-robot_ip:=xxx.yyy.zzz.www ur_type:=ur5e  use_mock_hardware:=false launch_rviz:=true
-```
+For details please see [doc/index.rst](doc/index.rst)

ur_calibration/doc/index.rst

@@ -0,0 +1,45 @@
+
+ur_calibration
+==============
+
+Package for extracting the factory calibration from a UR robot and changing it to be used by ``ur_description`` to gain a correct URDF model.
+
+Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also
+make use of this in ROS, you first have to extract the calibration information from the robot.
+
+Though this step is not necessary, to control the robot using this driver, it is highly recommended
+to do so, as end effector positions might be off in the magnitude of centimeters.
+
+Nodes
+-----
+
+calibration_correction
+^^^^^^^^^^^^^^^^^^^^^^
+
+This node extracts calibration information directly from a robot, calculates the URDF correction and
+saves it into a .yaml file.
+
+In the launch folder of the ur_calibration package is a helper script:
+
+.. code-block:: bash
+
+   $ ros2 launch ur_calibration calibration_correction.launch.py \
+   robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"
+
+For the parameter ``robot_ip`` insert the IP address on which the ROS pc can reach the robot. As
+``target_filename`` provide an absolute path where the result will be saved to.
+
+With that, you can launch your specific robot with the correct calibration using
+
+.. code-block:: bash
+
+   $ ros2 launch ur_robot_driver ur_control.launch.py \
+     ur_type:=ur5e \
+     robot_ip:=192.168.56.101 \
+     kinematics_params_file:="${HOME}/my_robot_calibration.yaml"
+
+Adapt the robot model matching to your robot.
+
+Ideally, you would create a package for your custom workcell, as explained in `the custom workcell
+tutorial
+<https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/blob/main/my_robot_cell/doc/start_ur_driver.rst#extract-the-calibration>`_.

ur_calibration/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>2.4.2</version>
+  <version>2.4.5</version>
   <description>Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

ur_controllers/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package ur_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.5 (2024-05-16)
+------------------
+* Use latched publishing for robot_mode and safety_mode
+* Contributors: Felix Exner
+
+2.4.4 (2024-04-04)
+------------------
+
+2.4.3 (2024-02-02)
+------------------
+
 2.4.2 (2023-11-23)
 ------------------
 * Update read_state_from_hardware

ur_controllers/README.md

@@ -11,66 +11,4 @@ robot family. Currently this contains
   * A **scaled_joint_trajectory_controller** that is similar to the *joint_trajectory_controller*,
   but it uses the speed scaling reported by the robot to reduce progress in the trajectory.
 
-## About this package
-This package contains controllers not being available in the default `ros_control` set. They are
-created to support more features offered by the UR robot family. Any of these controllers are
-example implementations for certain features and are intended to be generalized and merged
-into the default `ros_control` controller set at some future point.
-
-## Controller description
-This packages offers a couple of specific controllers that will be explained in the following
-sections.
-### ur_controllers/SpeedScalingStateBroadcaster
-This controller publishes the current actual execution speed as reported by the robot. Values are
-floating points between 0 and 1.
-
-In the [`ur_robot_driver`](../ur_robot_driver) this is calculated by multiplying the two [RTDE](https://www.universal-robots.com/articles/ur/real-time-data-exchange-rtde-guide/) data
-fields `speed_scaling` (which should be equal to the value shown by the speed slider position on the
-teach pendant) and `target_speed_fraction` (Which is the fraction to which execution gets slowed
-down by the controller).
-### position_controllers/ScaledJointTrajectoryController and velocity_controllers/ScaledJointTrajectoryController
-These controllers work similar to the well-known
-[`joint_trajectory_controller`](http://wiki.ros.org/joint_trajectory_controller).
-
-However, they are extended to handle the robot's execution speed specifically. Because the default
-`joint_trajectory_controller` would interpolate the trajectory with the configured time constraints (ie: always assume maximum velocity and acceleration supported by the robot),
-this could lead to significant path deviation due to multiple reasons:
- - The speed slider on the robot might not be at 100%, so motion commands sent from ROS would
-   effectively get scaled down resulting in a slower execution.
- - The robot could scale down motions based on configured safety limits resulting in a slower motion
-   than expected and therefore not reaching the desired target in a control cycle.
- - Motions might not be executed at all, e.g. because the robot is E-stopped or in a protective stop
- - Motion commands sent to the robot might not be interpreted, e.g. because there is no
-   [`external_control`](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#prepare-the-robot)
-   program node running on the robot controller.
- - The program interpreting motion commands could be paused.
-
-The following plot illustrates the problem:
-![Trajectory execution with default trajectory controller](doc/traj_without_speed_scaling.png
-"Trajectory execution with default trajectory controller")
-
-The graph shows a trajectory with one joint being moved to a target point and back to its starting
-point. As the joint's speed is limited to a very low setting on the teach pendant, speed scaling
-(black line) activates and limits the joint speed (green line). As a result, the target
-trajectory (light blue) doesn't get executed by the robot, but instead the pink trajectory is executed.
-The vertical distance between the light blue line and the pink line is the path error in each
-control cycle. We can see that the path deviation gets above 300 degrees at some point and the
-target point at -6 radians never gets reached.
-
-All of the cases mentioned above are addressed by the scaled trajectory versions. Trajectory execution
-can be transparently scaled down using the speed slider on the teach pendant without leading to
-additional path deviations. Pausing the program or hitting the E-stop effectively leads to
-`speed_scaling` being 0 meaning the trajectory will not be continued until the program is continued.
-This way, trajectory executions can be explicitly paused and continued.
-
-With the scaled version of the trajectory controller the example motion shown in the previous diagram becomes:
-![Trajectory execution with scaled_joint_trajectory_controller](doc/traj_with_speed_scaling.png
-"Trajectory execution with scaled_joint_trajectory_controller")
-
-The deviation between trajectory interpolation on the ROS side and actual robot execution stays minimal and the
-robot reaches the intermediate setpoint instead of returning "too early" as in the example above.
-
-Under the hood this is implemented by proceeding the trajectory not by a full time step but only by
-the fraction determined by the current speed scaling. If speed scaling is currently at 50% then
-interpolation of the current control cycle will start half a time step after the beginning of the
-previous control cycle.
+For more details please see [doc/index.rst](doc/index.rst)